DISEÑO DE LIBRERÍA CON ENFOQUE DIDÁCTICO PARA CONTROL DE ROBOTS MANIPULADORES EN SISTEMAS EMBEBIDOS (LIBRARY DESIGN WITH DIDACTIC APPROACH FOR CONTROL OF ROBOT MANIPULATORS IN EMBEDDED SYSTEMS)
Resumen
Resumen
En el presente artículo se muestra una herramienta computacional para el control de posición y/o orientación de un robot manipulador de n-grados de libertad. La herramienta cuenta con las funciones necesarias para calcular la cinemática directa del robot mediante matrices de transformación homogénea de rotación y traslación, la matriz Jacobiana de velocidades lineales y/o angulares, y el control de posición y/o orientación mediante un esquema de control PID. Se muestran resultados del uso de la librería en un experimento de control de posición de un robot de 3 grados de libertad de revoluta (RRR), donde la posición del efector final converge en la referencia en tiempo finito.
Palabras Clave: Didáctico Librería, Manipulador, Robot, Sistema embebido.
Abstract
In the present paper, a computational tool for position/orientation control of a n-degrees of freedom manipulator robot is shown. The tool contains the necessary functions in order to calculate the robot’s forward kinematics by means of the rotation/translation homogeneous transformation matrices, the linear/angular velocities Jacobian matrices, and the position/orientation control by means of a PID scheme. The results using the library in a 3 rotational degrees of freedom robot manipulator set-point control is shown, where the final effector’s pose converges at the reference in finite time.
Keywords: Didactic, Embedded system, Library, Manipulator, Robot.
Texto completo:
1029-1042 PDFReferencias
Cvjetkovic, V. M., & Matijevic, M. (2016). Overview of architectures with arduino boards as building blocks for data acquisition and control systems. International Journal of Online Engineering, 12(7), 10–17. https://doi.org/10.3991/ijoe.v12i07.5818
Fernández, J., Gemin, W., Rivera, R., Revuelta, M., Kuzman, M., & Hidalgo, R. (2016). Digital filter design with Arduino DUE and Matlab. 2015 16th Workshop on Information Processing and Control, RPIC 2015. https://doi.org/10.1109/RPIC.2015.7497060
Kuang, Y. (2014). Communication between PLC and arduino based on modbus protocol. Proceedings - 2014 4th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2014, 370–373. https://doi.org/10.1109/IMCCC.2014.83
Qian, B., & Cheng, H. H. (2016). ChDuino: A real-time controller for Arduino. MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings, 1–6. https://doi.org/10.1109/MESA.2016.7587191
Seelam, K., & Lakshmi, C. J. (2017). An Arduino based embedded system in passenger car for road safety. Proceedings of the International Conference on Inventive Communication and Computational Technologies, ICICCT 2017, (Icicct), 268–271.
https://doi.org/10.1109/ICICCT.2017.7975201
Tipsuwanporn, V., Numsomran, A., Samaimak, S., & Harnnarong, S. (2014). Development of redundant bus library for arduino to apply in SCADA system. International Conference on Control, Automation and Systems, (lCCAS), 42–46. https://doi.org/10.1109/ICCAS.2014.6987955
Torroja, Y., Lopez, A., Portilla, J., & Riesgo, T. (2016). A Serial Port Based Debugging Tool To Improve Learning With Arduino. 2015 Conference on Design of Circuits and Integrated Systems, DCIS 2015, 0–3. https://doi.org/10.1109/DCIS.2015.7388612
URL de la licencia: https://creativecommons.org/licenses/by/3.0/deed.es
Pistas Educativas está bajo la Licencia Creative Commons Atribución 3.0 No portada. 
TECNOLÓGICO NACIONAL DE MÉXICO / INSTITUTO TECNOLÓGICO DE CELAYA
Antonio García Cubas Pte #600 esq. Av. Tecnológico, Celaya, Gto. México
Tel. 461 61 17575 Ext 5450 y 5146
pistaseducativas@itcelaya.edu.mx